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WO2014057619A1 - Dispositif de détection de mouvements du corps et appareil de stimulation du corps humain comprenant ledit dispositif - Google Patents

Dispositif de détection de mouvements du corps et appareil de stimulation du corps humain comprenant ledit dispositif Download PDF

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Publication number
WO2014057619A1
WO2014057619A1 PCT/JP2013/005680 JP2013005680W WO2014057619A1 WO 2014057619 A1 WO2014057619 A1 WO 2014057619A1 JP 2013005680 W JP2013005680 W JP 2013005680W WO 2014057619 A1 WO2014057619 A1 WO 2014057619A1
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WO
WIPO (PCT)
Prior art keywords
unit
walking
determination
stationary
stimulus
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
PCT/JP2013/005680
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English (en)
Japanese (ja)
Inventor
亮 市村
泉 三原
景太 乾
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Panasonic Corp
Original Assignee
Panasonic Corp
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Panasonic Corp filed Critical Panasonic Corp
Priority to CN201380046227.3A priority Critical patent/CN104602661B/zh
Priority to US14/425,511 priority patent/US9802040B2/en
Publication of WO2014057619A1 publication Critical patent/WO2014057619A1/fr
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61N—ELECTROTHERAPY; MAGNETOTHERAPY; RADIATION THERAPY; ULTRASOUND THERAPY
    • A61N1/00—Electrotherapy; Circuits therefor
    • A61N1/18—Applying electric currents by contact electrodes
    • A61N1/32—Applying electric currents by contact electrodes alternating or intermittent currents
    • A61N1/36—Applying electric currents by contact electrodes alternating or intermittent currents for stimulation
    • A61N1/36003—Applying electric currents by contact electrodes alternating or intermittent currents for stimulation of motor muscles, e.g. for walking assistance
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B5/00—Measuring for diagnostic purposes; Identification of persons
    • A61B5/103—Measuring devices for testing the shape, pattern, colour, size or movement of the body or parts thereof, for diagnostic purposes
    • A61B5/11—Measuring movement of the entire body or parts thereof, e.g. head or hand tremor or mobility of a limb
    • A61B5/1123—Discriminating type of movement, e.g. walking or running
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B5/00—Measuring for diagnostic purposes; Identification of persons
    • A61B5/68—Arrangements of detecting, measuring or recording means, e.g. sensors, in relation to patient
    • A61B5/6801—Arrangements of detecting, measuring or recording means, e.g. sensors, in relation to patient specially adapted to be attached to or worn on the body surface
    • A61B5/6813—Specially adapted to be attached to a specific body part
    • A61B5/6828—Leg
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61N—ELECTROTHERAPY; MAGNETOTHERAPY; RADIATION THERAPY; ULTRASOUND THERAPY
    • A61N1/00—Electrotherapy; Circuits therefor
    • A61N1/02—Details
    • A61N1/04—Electrodes
    • A61N1/0404—Electrodes for external use
    • A61N1/0408—Use-related aspects
    • A61N1/0452—Specially adapted for transcutaneous muscle stimulation [TMS]
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61N—ELECTROTHERAPY; MAGNETOTHERAPY; RADIATION THERAPY; ULTRASOUND THERAPY
    • A61N1/00—Electrotherapy; Circuits therefor
    • A61N1/02—Details
    • A61N1/04—Electrodes
    • A61N1/0404—Electrodes for external use
    • A61N1/0472—Structure-related aspects
    • A61N1/0476—Array electrodes (including any electrode arrangement with more than one electrode for at least one of the polarities)
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61N—ELECTROTHERAPY; MAGNETOTHERAPY; RADIATION THERAPY; ULTRASOUND THERAPY
    • A61N1/00—Electrotherapy; Circuits therefor
    • A61N1/18—Applying electric currents by contact electrodes
    • A61N1/32—Applying electric currents by contact electrodes alternating or intermittent currents
    • A61N1/36—Applying electric currents by contact electrodes alternating or intermittent currents for stimulation
    • A61N1/36014—External stimulators, e.g. with patch electrodes
    • A61N1/3603—Control systems
    • A61N1/36031—Control systems using physiological parameters for adjustment
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61N—ELECTROTHERAPY; MAGNETOTHERAPY; RADIATION THERAPY; ULTRASOUND THERAPY
    • A61N1/00—Electrotherapy; Circuits therefor
    • A61N1/02—Details
    • A61N1/04—Electrodes
    • A61N1/0404—Electrodes for external use
    • A61N1/0472—Structure-related aspects
    • A61N1/0484—Garment electrodes worn by the patient

Definitions

  • the present invention relates to a body motion detection device that detects body motion and a human body stimulus applying device that applies a stimulus to the human body.
  • a conventional stimulus applying device for a human body using a body motion detection device includes an acceleration sensor, an electrical stimulus applying unit, and a control unit.
  • the acceleration sensor is attached to the thigh.
  • the control unit predicts the timing at which the user's foot leaves the floor based on the output signal of the acceleration sensor.
  • the control unit supplies a signal for causing a current to flow from the electrical stimulation applying unit to the thigh at the predicted timing.
  • the electrical stimulation applying unit applies electrical stimulation to the thigh according to the signal supplied from the control unit.
  • Patent Document 1 discloses an example of a conventional stimulus applying apparatus for a human body.
  • the control part of the conventional stimulus applying apparatus for human body predicts the timing at which the foot leaves the floor on the premise of periodic walking motion. For this reason, when the actual walking motion is different from the periodic walking motion, the predicted timing is greatly different from the actual foot motion. For this reason, there is a possibility of applying electrical stimulation to the leg while the walking motion is stationary.
  • the present invention was created based on the above background, and a body motion detection device capable of appropriately determining whether or not the walking motion is stationary, and a human body stimulus application having this device
  • An object is to provide an apparatus.
  • a body motion detection device for detecting a motion of a human body, which is generated by a detection unit that generates a detection signal that changes according to a walking motion of the human body, and the detection unit. Based on the detected signal, the walking motion in one walking cycle is divided into a plurality of walking steps, and whether or not the walking motion is stationary based on the duration of at least one walking step of the plurality of walking steps.
  • a body motion detection device including a determination unit.
  • the one walking cycle includes a stance phase and a swing phase defined as a specific walking phase, and the determination unit divides the stance phase or the swing phase into a plurality of walking phases, and is classified Preferably, each of the plurality of walking stages is defined as a divided walking stage, and whether or not the walking motion is stationary is determined based on the duration of each of the plurality of divided walking stages.
  • the determination unit determines that the walking motion is stationary when the duration of at least one of the plurality of divided walking stages is longer than the stationary determination time.
  • the determination unit includes a measurement unit that measures a duration of each of the plurality of divided walking stages, and the determination unit includes at least a duration of the plurality of divided walking stages measured by the measurement unit. It is preferable to determine whether or not the walking motion is stationary based on a comparison between one duration and the stationary determination time.
  • the body motion detection device may further include a time setting unit that sets the stationary determination time based on at least one duration among durations of the plurality of divided walking stages measured by the measurement unit. It is preferable to provide.
  • the time setting unit sets the stillness determination time based on at least one duration of durations of the plurality of divided walking stages measured by the measurement unit before a current walking cycle. It is preferable.
  • the time setting unit sets a relationship between the duration of each of the plurality of divided walking stages and the stillness determination time, and receives the duration of the divided walking stage from the measurement unit.
  • a determination time defining unit that outputs the stillness determination time is included.
  • the detection unit includes a first right body sensor that generates an output signal corresponding to the operation of the first right body part and a second right body sensor that generates an output signal corresponding to the operation of the second right body part.
  • a right body detection unit including a first left body sensor that generates an output signal corresponding to the operation of the first left body part, and a second left body sensor that generates an output signal corresponding to the operation of the second left body part.
  • a stimulation applying device for a human body that applies a stimulus to a human body, the stimulation applying unit based on the body movement detection device and a determination result of the body movement detection device.
  • a stimulation applying device for a human body comprising: a control unit that transmits a command signal to the human body; and a stimulation applying unit that changes the magnitude of stimulation applied to the human body based on the command signal.
  • the stimulus imparting unit includes a right half body stimulus imparting unit that imparts a stimulus to the right half body and a left half body stimulus imparting unit that imparts a stimulus to the left half body, and the determination unit includes the first right body sensor.
  • a first determination unit for determining whether or not a walking motion is stationary based on an output signal and an output signal of the second right body sensor; an output signal of the first left body sensor; and a second left body sensor A second discriminating unit that determines whether or not the walking motion is stationary based on the output signal, and the control unit determines that the walking motion is stationary by the first discriminating unit
  • the command signal is sent to the right half body stimulus applying unit, the stimulus is given to the human body, and when the second discriminating unit determines that the walking motion is stationary, the command signal is sent to the left half body stimulus applying unit.
  • Send a stimulus to the human body Rukoto is preferable.
  • control unit transmits a command signal to the stimulus applying unit after a walking stationary time that is an elapsed time from when it is determined that the walking motion is stationary exceeds a determination elapsed time.
  • the stimulus applying unit applies electrical stimulation to the human body.
  • the main body motion detection device and the human body stimulus applying device can appropriately detect the state where the walking motion is stationary.
  • FIG. 1 is a schematic view of a human body stimulus applying apparatus according to a first embodiment of the present invention.
  • FIG. The front view of the human body with which the mounting part in 1st Embodiment of this invention was mounted
  • walking motion of a human body (a) is a diagram showing movement of both legs in walking motion, (b) and (c) are diagrams showing one walking cycle, and (d) is a period of movement of the right leg.
  • FIG. 5E is a diagram showing a period of left leg movement.
  • 1 is a circuit block diagram of a human body stimulus applying apparatus according to a first embodiment of the present invention.
  • the human body stimulation device 1 includes a stimulation device main body 40 and a first mounting portion 10L.
  • the first mounting portion 10L is mounted on the left leg 210L of the user 200 (see FIG. 2).
  • the human body stimulus applying apparatus 1 includes a first mounting portion 10L and a second mounting portion 10R that are mounted on the left leg 210L and the right leg 210R of the user 200. Since the right leg 210R and the second mounting portion 10R have the same structure as the left leg 210L and the first mounting portion 10L, illustration and description of the right leg 210R and the second mounting portion 10R are omitted.
  • the first wearing unit 10L and the second wearing unit 10R detect the movement of the user 200 in the walking motion of the user 200.
  • the stimulation device main body 40 Based on the detection results of the first mounting unit 10L and the second mounting unit 10R, the stimulation device main body 40 divides the operation of the user 200 in one walking cycle into a plurality of operation stages and determines the operation at each operation stage. To do.
  • the stimulation device main body 40 provides stimulation to the user 200 based on the operation determination result in the operation stage divided into a plurality of operations.
  • the stimulator main body 40 determines whether the user 200 is still in a walking state (that is, determines that the walking motion is stationary), and performs control to stop applying the stimulus.
  • the stimulation device main body 40 includes a display unit 43 and an operation unit 44.
  • the connection cable 13 connects the stimulation device main body 40 and the first mounting portion 10L to each other, and connects the stimulation device main body 40 and the second mounting portion 10R to each other.
  • the first mounting portion 10L includes a first left half sensor SL1 and a second left half sensor SL2. Each of the first left body sensor SL1 and the second left body sensor SL2 detects displacement of physical quantities of the thigh and knee of the user 200.
  • the first left body sensor SL1 and the second left body are placed on the left leg of the user 200 as the first part.
  • the half body sensor SL2 is mounted, and the first right body sensor SR1 and the second right body sensor SR2 are mounted on the right leg of the user 200, which is the second part.
  • the first mounting portion 10L includes a thigh mounting portion 21 attached to the thigh of the left leg 210L and a crus mounting portion 22 attached to the crus.
  • the thigh mounting part 21 and the crus mounting part 22 are connected to each other by the first connecting part 23a and the second connecting part 23b.
  • the thigh mounting part 21 includes a thigh front part 24, a first thigh back part 25, and a second thigh back part 26.
  • the thigh front part 24 covers a front part and a part of the side face of the thigh of the left leg 210L.
  • the 1st thigh back surface part 25 and the 2nd thigh back surface part 26 are formed in the 1st and 2nd edge part of the thigh front surface part 24, respectively.
  • the thigh front part 24 has a recess 24a formed in the lower end part.
  • tip part 25a have the 1st connection part 25b.
  • the 2nd thigh back surface part 26 has the 2nd connection part 26b in the 2nd front-end
  • the first connection part 25b and the second connection part 26b are detachably connected to each other.
  • the thigh attachment portion 21 is attached to the thigh of the left leg 210L.
  • the thigh mounting part 21 includes a left half body stimulus applying part 90La.
  • the left half body stimulation applying unit 90La applies stimulation to the thigh of the user 200 under the control of the stimulation apparatus main body 40.
  • the lower leg mounting part 22 includes a lower leg front part 27, a first lower leg back part 28, and a second lower leg back part 29.
  • the lower leg front part 27 covers a front part and a part of the side surface of the lower leg part of the left leg 210L.
  • the first lower leg back part 28 and the second lower leg back part 29 are formed at the first and second ends of the lower leg front part 27, respectively.
  • the lower leg front portion 27 has a recess 27a formed in the upper end portion.
  • the 1st lower leg back part 28 has the 3rd connection part 28b in the 3rd front-end
  • the 2nd lower leg back part 29 has the 4th connection part 29b in the 4th front-end
  • the third connection portion 28b and the fourth connection portion 29b are detachably connected to each other.
  • the third connecting part 28b and the fourth connecting part 29b are connected to each other at the back part of the lower leg of the left leg 210L, whereby the lower leg attaching part 22 is attached to the lower leg of the left leg 210L.
  • the lower leg mounting part 22 includes a left half body stimulus applying part 90Lb.
  • the left half body stimulation applying unit 90 ⁇ / b> Lb applies stimulation to the lower leg of the user 200 under the control of the stimulation device main body 40.
  • the first connecting portion 23a and the second connecting portion 23b are formed from, for example, a stretchable member.
  • the first connecting portion 23 a connects the first end of the thigh mounting portion 21 to the first end of the crus mounting portion 22, and the second connecting portion 23 b connects the second end of the thigh mounting portion 21. It connects with the 2nd end of lower leg mounting part 22.
  • the thigh mounting part 21 and the crus mounting part 22 are connected to each other, the mounting is surrounded by the recess 24a of the thigh front part 24, the recess 27a of the crus front part 27, the first connection part 23a, and the second connection part 23b.
  • a hole 31 is formed in the first mounting portion 10L. When the first mounting portion 10L is mounted, the front portion of the knee of the left leg 210L is exposed from the mounting hole 31 to facilitate the bending operation of the knee joint during walking.
  • the thigh front part 24 and the crus front part 27 have a first insertion part 32 and a second insertion part 33, respectively, in a substantially central part.
  • the first left body sensor SL1 and the second left body sensor SL2 are disposed in the first insertion portion 32 and the second insertion portion 33, respectively.
  • the first right body sensor SR1 and the second right body sensor SR2 are disposed at positions symmetrical to the first left body sensor SL1 and the second left body sensor SL2.
  • the first left body sensor SL1 and the first right body sensor SR1 provided in the thigh front portion 24 of the first mounting portion 10L and the second mounting portion 10R are, for example, angular velocity sensors.
  • the second left body sensor SL2 and the second right body sensor SR2 provided respectively on the lower leg front portion 27 of the first attachment portion 10L and the second attachment portion 10R are, for example, angular velocity sensors.
  • the first left body sensor SL1 and the first right body sensor SR1 are angular velocity sensors
  • the first left body sensor SL1 and the first right body sensor SR1 respectively perform the hip joints of the left leg 210L and the right leg 210R in walking motion.
  • the acceleration of the thigh rotating around the center is output.
  • the second left body sensor SL2 and the second right body sensor SR2 are angular velocity sensors
  • the second left body sensor SL2 and the second right body sensor SR2 are centered on the knee joints of the left leg 210L and the right leg 210R, respectively. Outputs the angular velocity of the lower leg that rotates.
  • the first wearing unit 10L detects the displacement of the knee joint in the walking state using the first left body sensor SL1 and the second left body sensor SL2.
  • 10 R of 2nd mounting parts detect the displacement of the knee joint in a walk state using 1st right body sensor SR1 and 2nd right body sensor SR2.
  • the first left body sensor SL1 attached to the upper part of the lower left crotch and the first right body sensor SR1 attached to the upper part of the lower right crotch of the user 200 are relative to the reference plane 200C. They are arranged at symmetrical positions.
  • the reference plane 200 ⁇ / b> C is a plane that is the center of the symmetrical operation of the user 200. More specifically, the reference plane 200C includes a median plane that is a plane of the center of the body that equally divides the body of the user 200 viewed from the walking direction (the body of the user 200 viewed from the front).
  • the second left body sensor SL2 attached to the lower part of the lower left crotch of the user 200 and the second right body sensor SR2 attached to the lower part of the lower right crotch are symmetrically positioned with respect to the reference plane 200C. Be placed.
  • the first left body sensor SL1 and the second left body sensor SL2 mounted on the lower left crotch of the user 200 constitute a left leg detection unit SL that detects the operation of the left leg of the user 200.
  • the first right body sensor SR1 and the second right body sensor SR2 mounted on the lower right crotch constitute a right leg detector SR that detects the movement of the user's right leg.
  • the user 200 moves the leg shown in FIG. In FIG. 4A, the portion indicated by only a solid line indicates the movement of the right leg of the user 200. The portion indicated by hatching in FIG. 4A indicates the movement of the left leg of the user 200.
  • the period of the walking motion is defined as shown in FIG. 4B to FIG. 4E.
  • One walking cycle of the user 200 is a period from when the heel of one foot contacts the ground, and then the same heel contacts the ground again. In one walking cycle, a section where the user's foot is in contact with the floor is a stance phase, and a section where the foot is away from the floor is a swing phase.
  • the right leg and the left leg alternately repeat the stance phase and the free leg phase.
  • the other leg shifts in time and changes from the stance phase to the swing phase. For this reason, during one walking cycle, both feet have a section in contact with the ground.
  • the human body stimulation device 1 discriminates between the stance phase and the free leg phase in one walking cycle shown in FIG.
  • the human body stimulating device 1 defines the stance phase and the swing phase as a specific walking stage.
  • the human body stimulation device 1 divides the stance phase and the swing phase defined as specific walking phases into a plurality of phases.
  • the human body stimulus applying apparatus 1 defines a plurality of stages as divided walking stages, and performs motion discrimination including a stationary state.
  • the human body stimulus applying apparatus 1 controls the stimulus applying unit based on the motion discrimination result of the divided walking stage divided into a plurality of parts.
  • the human body stimulus applying apparatus 1 includes a first mounting portion 10L, a second mounting portion 10R, and a stimulation device main body 40.
  • the first mounting unit 10L includes a left half body detection unit 50L and a left half body stimulus imparting unit 90L.
  • the left half body detection unit 50L includes a left leg detection unit SL.
  • the second wearing unit 10R includes a right half body detecting unit 50R and a right half body stimulus applying unit 90R.
  • the right half body detection unit 50R includes a right leg detection unit SR.
  • the stimulation device main body 40 includes a power supply unit 41, a display unit 43, an operation unit 44, and a control unit 60.
  • the control unit 60 includes an arithmetic processing unit 61, a stimulus application control unit 62, a time setting unit 63, and a determination unit 70.
  • the determination unit 70 includes a comparison unit 71, a measurement unit 72, a stationary determination unit 73, and a walking stage division unit 80.
  • the walking stage division unit 80 includes a logical operation unit 81.
  • Each of the output of the power supply unit 41 of the stimulation device main body 40 and the output signal of the stimulus application control unit 62 is supplied to the first mounting unit 10L and the second mounting unit 10R via the connection cable 13.
  • Each of the detection signal from the left leg detection unit SL of the first mounting unit 10L and the detection signal from the right leg detection unit SR of the second mounting unit 10R is supplied to the stimulation device main body 40 via the connection cable 13. .
  • the first left body sensor SL1 and the second left body sensor SL2 included in the left leg detection unit SL detect the operation of the left leg 210L of the user 200 wearing the first wearing unit 10L and generate a detection signal.
  • the first right body sensor SR1 and the second right body sensor SR2 included in the right leg detection unit SR detect the operation of the right leg 210R of the user 200 wearing the second wearing unit 10R and generate a detection signal. .
  • the detection signal from the first left body sensor SL1 of the left leg detection unit SL is the first detection signal IL1, and is transmitted to the arithmetic processing unit 61.
  • a detection signal from the second left body sensor SL2 of the left leg detection unit SL is a second detection signal IL2, and is transmitted to the arithmetic processing unit 61.
  • a detection signal from the first right body sensor SR1 of the right leg detection unit SR is a third detection signal IR1, and is transmitted to the arithmetic processing unit 61.
  • the detection signal from the second right body sensor SR2 of the right leg detection unit SR is the fourth detection signal IR2, and is transmitted to the arithmetic processing unit 61.
  • the arithmetic processing unit 61 receives the first detection signal IL1, the second detection signal IL2, the third detection signal IR1, and the fourth detection signal IR2, and performs signal processing on these signals.
  • the arithmetic processing unit 61 performs, for example, noise removal such as a high frequency component, calculation of a moving average value, and frequency analysis as signal processing.
  • the arithmetic processing unit 61 performs a process of combining the first detection signal IL1 and the third detection signal IR1 of the first left body sensor SL1 and the first right body sensor SR1 arranged symmetrically with respect to the reference plane 200C.
  • the arithmetic processing unit 61 performs a process of combining the second detection signal IL2 and the fourth detection signal IR2 of the second left body sensor SL2 and the second right body sensor SR2 that are arranged symmetrically with respect to the reference plane 200C.
  • the arithmetic processing unit 61 performs a subtraction process (IL1-IR1) and an addition process (IL1 + IR1) between the first detection signal IL1 and the third detection signal IR1 as the combination process.
  • the arithmetic processing unit 61 performs, for example, a subtraction process (IL2-IR2) and an addition process (IL2 + IR2) between the second detection signal IL2 and the fourth detection signal IR2 as combination processing.
  • the arithmetic processing unit 61 for example, combines the first detection signal IL1, the second detection signal IL2, the third detection signal IR1, and the fourth detection signal IR2 according to the following expression (1) to thereby generate the combination signal Z1. Generate.
  • Z1 aX1 + bX2 + cX3 + dX4 + ... + C (1)
  • a, b, c, and d are coefficients.
  • C in Formula (1) is a constant.
  • the values of the first detection signal IL1, the second detection signal IL2, the third detection signal IR1, and the fourth detection signal IR2 are substituted into the variables X1, X2, X3, and X4.
  • the first detection signal IL1 and the second detection signal IL2 of the left leg detection unit SL and the third detection signal IR1 and the fourth detection signal IR2 of the right leg detection unit SR are combined with the variables X1 to X4. Value is substituted.
  • the determination unit 70 performs operation determination by dividing one walking cycle into a plurality of operation stages based on the processing result of the arithmetic processing unit 61.
  • the plurality of operation stages include, for example, a first operation stage OP1, a second operation stage OP2, and a third operation stage OP3.
  • the values of the variables X1 to X4 in the equation (1) are the first detection signal IL1, the second detection signal IL2, and the third detection signal IR1, respectively, in the first operation stage OP1, the second operation stage OP2, and the third operation stage OP3. And a characteristic value of the fourth detection signal IR2.
  • the characteristic value is a continuously obtained value such as a moving average value, a differential value, or a value calculated by performing a predetermined calculation with another characteristic value (for example, X1-X4, X1 + X2). is there.
  • the values of the coefficients a to d in the equation (1) can be changed when setting different operation stages.
  • the values of the coefficients a to d and the constant C are set using, for example, a discriminant analysis method that is one of the multivariable analysis methods.
  • the variables X1 to X4 in each of the first operation stage OP1, the second operation stage OP2, and the third operation stage OP3 are calculated based on the results of a walking test performed in advance on a plurality of subjects.
  • the first left body sensor SL1, the second left body sensor SL2, the first right body sensor SR1, 2 In addition to the right body sensor SR2, another sensor (such as a pressure sensor) is used.
  • the combination signal Z1 is obtained by substituting the variables X1 to X4 into the equation (1) set based on the discriminant analysis method.
  • characteristic values in all operation stages form a group.
  • the coefficients a to d are such that the combination signal Z1 described above indicates the boundary of characteristic values of the first operation stage OP1, the second operation stage OP2 and the third operation stage OP3 grouped in this graph. Is set. That is, when different operation stages are set, the coefficients a to d are set as different values.
  • the constant C is used to adjust the value of the combination signal Z1.
  • the arithmetic processing unit 61 outputs the first detection signal IL1, the second detection signal IL2, the third detection signal IR1, the fourth detection signal IR2, and a combination signal obtained by combining these to the determination unit 70.
  • FIG. 6 shows an operation stage in one walking cycle and signals used for discrimination of the operation stage.
  • the determination unit 70 compares the combination signal Z1 shown in FIG. 6C with the predetermined first threshold value TH1, second threshold value TH2, third threshold value TH3, and fourth threshold value TH4 by the comparison unit 71. To do.
  • the first threshold value TH1, the second threshold value TH2, the third threshold value TH3, and the fourth threshold value TH4 have different values at each operation stage.
  • the determination unit 70 uses the comparison unit 71 and the logic operation unit 81 to process the first detection signal IL1, the second detection signal IL2, the third detection signal IR1, the fourth detection signal IR2, and the like. Judgment is made for combination signals and the like. Thereby, the discriminating unit 70 performs a plurality of operation stages shown in FIG.
  • the measuring unit 72 measures an operation stage duration tOP that is a duration of each of the first operation stage OP1, the second operation stage OP2, and the third operation stage OP3 determined by the determination unit 70.
  • the measurement unit 72 stores the measurement result.
  • the stationary determination unit 73 stops the walking motion of the user 200 when the first motion phase OP1, the second motion phase OP2, and the third motion phase OP3 continue for a predetermined time or longer in the walking motion of the user 200. Is determined.
  • the time setting unit 63 receives an input of a stillness determination time tREF used for determination of a walking still state.
  • the stillness determination unit 73 compares the operation stage duration tOP stored in the measurement unit 72 with the stillness determination time tREF input to the time setting unit 63.
  • the stationary determination unit 73 determines that the walking motion is stationary when the motion stage duration tOP is longer than the stationary determination time tREF of the time setting unit 63.
  • the stillness determination unit 73 outputs the determination result to the stimulus application control unit 62.
  • the stimulus application control unit 62 applies the left body stimulus applied to the left body stimulus applying unit 90L and the second attachment unit 10R attached to the first attachment unit 10L.
  • the unit 90R is controlled.
  • the display unit 43 displays, for example, the determination result of the walking state of the user 200 in the first operation stage OP1, the second operation stage OP2, and the third operation stage OP3.
  • the display unit 43 evaluates walking motion based on, for example, the difference between the left and right leg motions in the first motion stage OP1, the second motion stage OP2, and the third motion stage OP3, and the difference between the left and right leg motions. Display the results. Note that the operation target displayed on the display unit 43 can be changed by the user 200 using the operation unit 44.
  • the power supply unit 41 supplies a driving current to the stimulation device main body 40.
  • the power supply unit 41 supplies a drive current to the first mounting unit 10L and the second mounting unit 10R.
  • the power supply unit 41 is a power supply circuit that generates a required drive current by supplying power from, for example, a rechargeable battery, a dry battery, and a commercial power supply.
  • the first left half body sensor SL1, the second left half body sensor SL2, the first right half body sensor SR1, and the second right half body sensor SR2 are the users associated with the walking motion in step S11.
  • the displacement of the physical quantity of the left leg 210L and the right leg 210R of 200 is detected.
  • the first left body sensor SL1, the second left body sensor SL2, the first right body sensor SR1, and the second right body sensor SR2 have a first detection signal IL1, a second detection signal IL2, and a third detection signal indicating detection results.
  • IR1 and the fourth detection signal IR2 are generated and output to the arithmetic processing unit 61.
  • step S12 the arithmetic processing unit 61 performs the first detection of the first left body sensor SL1, the second left body sensor SL2, the first right body sensor SR1, and the second right body sensor SR2 that are divided by the reference plane 200C.
  • a process of combining the signal IL1 and the third detection signal IR1, and the second detection signal IL2 and the fourth detection signal IR2 is performed.
  • the arithmetic processing unit 61 performs signal processing on the combined signal and the previous signal combined.
  • the arithmetic processing unit 61 outputs a signal generated by the signal processing to the determination unit 70.
  • step S13 the determination unit 70 compares a threshold for dividing one walking cycle for each characteristic of walking motion with a signal generated by signal processing. Based on the comparison result, the determination unit 70 detects a plurality of first operation stages OP1, second operation stages OP2, and third operation stages OP3 from one walking cycle. The determination unit 70 divides one walking cycle into a first operation stage OP1 included in the stance phase shown in FIG. 6, a second operation stage OP2 and a third operation stage OP3 included in the swing phase. In the example shown in FIG. 6, the stance phase includes only one section of the first operation stage OP1. For example, the determination unit 70 includes the combination signal Z1 shown in FIG.
  • the comparison unit 71 is made to compare TH3 and the fourth threshold TH4. Based on the comparison result, the determination unit 70 determines a section in which the combination signal Z1 exceeds the first threshold value TH1 or the second threshold value TH2 as a stance phase. The comparison unit 71 outputs a comparison signal “1” (high level) when the combination signal Z1 is smaller than the first threshold value TH1 to the fourth threshold value TH4.
  • the comparison unit 71 outputs a comparison signal “0” (low level) when the combination signal Z1 is larger than the first threshold value TH1 to the fourth threshold value TH4.
  • Each of the first threshold value TH1, the second threshold value TH2, the third threshold value TH3, and the fourth threshold value TH4 has a constant value in one walking cycle.
  • the logical operation unit 81 of the walking stage division unit 80 performs a logical operation on the comparison signal input from the comparison unit 71 in step S14.
  • step S15 the determination unit 70 determines the first operation stage OP1, the second operation stage OP2, and the third operation stage OP3 based on the output result of the logic operation unit 81.
  • the walking stage division unit 80 determines that the period from t11 to t12 in which the combination signal Z1 exceeds the first threshold value TH1 in the stance phase is the stance phase early period.
  • the walking stage division unit 80 determines a period from t12 to t21 in which the combination signal Z1 is once less than or equal to the first threshold value TH1 and the combination signal Z1 exceeds the second threshold value TH2 as the late stance phase. Determine.
  • the discriminating unit 70 determines the interval t11 to t21 including the segment t11 to t12 determined to be the early stance phase and the interval t12 to t21 determined to be the late stance phase. It is defined as one operation stage OP1. Note that the first half of the stance phase is a period from the ground contact with the heel of one foot during one walking cycle until the heel leaves the ground. In addition, the late stance phase is a section in which one heel's heel is separated from the ground and the toes are separated from the ground during one walking cycle.
  • the walking stage division unit 80 determines a section between t21 and t22, which is a section subsequent to the late stance phase and in which the combination signal Z1 is equal to or less than the third threshold TH3, as the early stance phase.
  • the walking stage division unit 80 determines a section following t22 to t31, which is a section following the first part of the swing leg period and in which the combination signal Z1 exceeds the third threshold value TH3 and is equal to or less than the threshold value TH4, as the latter part of the swing leg period.
  • the determination unit 70 defines the first swing phase period as the second motion stage OP2 and the second swing phase period as the third motion phase OP3.
  • the walking stage dividing unit 80 it is also possible to combine a plurality of divided sections after dividing one walking cycle into a plurality of sections.
  • the target operation stage is the swing leg period
  • the swing leg period can be divided into a plurality of sections, and then the divided sections can be combined.
  • the stillness determination unit 73 determines the walking stationary state of the user 200 in step S16.
  • the stationary determination unit 73 determines the stationary state of walking using the durations of the first operation stage OP1, the second operation stage OP2, and the third operation stage OP3 determined by the determination unit 70.
  • the left half body stimulus imparting unit 90L and the right half body stimulus imparting unit 90R impart stimulation to the user 200 at a predetermined timing when the stationary determination unit 73 does not determine that the walking motion is stationary.
  • the left half body stimulation imparting unit 90L and the right half body stimulation imparting unit 90R change the magnitude of the stimulation imparted to the user 200.
  • the left half body stimulus imparting unit 90L and the right half body stimulus imparting unit 90R weaken the stimulation force or stop applying the stimulus when the stationary determination unit 73 determines that the walking motion is stationary.
  • the same motion stage may be discriminated multiple times within one walking cycle.
  • the walking stage division unit 80 separately acquires a determination signal different from the determination signal used for the determination.
  • the determination unit 70 performs a logical operation on the separately acquired determination signal to identify the first operation stage OP1, the second operation stage OP2, and the third operation stage OP3.
  • the first threshold value TH1, the second threshold value TH2, the third threshold value TH3, and the fourth threshold value TH4 are set based on, for example, the results of a walking test performed on a plurality of subjects in advance.
  • the walking test for example, the first left body sensor SL1, the second left body sensor SL2, the first right body sensor SR1, and the second right body sensor SR2 other than the first left body sensor SL1, the second right body sensor SR2, and the like. This is done.
  • This other sensor is provided for detecting the first movement stage OP1, the second movement stage OP2, and the third movement stage OP3 in the walking test.
  • a pressure sensor provided on the sole detects a period during which the foot is in contact with the ground in one walking cycle.
  • the tester defines the period during which the foot is detected as being in contact with the ground as the stance phase, that is, the first operation stage OP1.
  • the tester uses the first operation stage OP1, the second operation stage OP2, and the third operation stage OP3 detected by another sensor, and the first detection signal IL1, the second detection signal IL2, and the third detection of each subject.
  • the value of the combination signal of the signal IR1 and the fourth detection signal IR2 is acquired. Thereby, for example, the average value of the combination signal value at the boundary between the first operation stage OP1, the second operation stage OP2, and the third operation stage OP3 is calculated, and the result is the first threshold value TH1 and the second threshold value TH2. , Third threshold TH3, and fourth threshold TH4.
  • the second threshold value TH2 is set to a value for determining the late stance phase and the sections before and after (an early stance phase and an early stance phase) for the combination signal as shown in FIG. . That is, the second threshold value TH2 is set from the average value of the combination signals at the boundary between the first stance phase of a plurality of subjects in the walking test and the section before and after the second stance phase.
  • the first threshold value TH1, the second threshold value TH2, the third threshold value TH3, and the fourth threshold value TH4 are not limited to boundary values. For example, it may be set based on the average value of the combination signals in the entire operation stages of the first operation stage OP1, the second operation stage OP2, and the third operation stage OP3.
  • control unit 60 executes steps S21 to S23 which are initial setting steps.
  • step S21 the time setting unit 63 sets the value of the determination time used for determining the walking still state to the still determination time tREF.
  • the measuring unit 72 sets the operation stage duration tOP stored in the measuring unit 72 to 0 in step S22.
  • step S23 the determination unit 70 sets the previous operation stage number OPN (n ⁇ 1) used for walking cycle time measurement to 0.
  • step S24 the determination unit 70 determines the operation stage.
  • the discriminating unit 70 sets the operation stage number OPN (n) of the determined operation stage in step S25.
  • step S26 the measuring unit 72 determines whether the operation stage number OPN (n) determined in step S25 matches the previous operation stage number OPN (n-1). By executing step S26, the measuring unit 72 determines whether or not the operation determined as the same operation stage number is continued.
  • step S26 when it is determined that the operation stage number OPN (n) matches the previous operation stage number OPN (n-1) (Yes), the measurement unit 72 causes the measurement unit 72 to 1 is added to the stored operation phase duration tOP.
  • step S26 When it is determined in step S26 that the operation stage number OPN (n) does not match the previous operation stage number OPN (n-1) (No), the measurement unit 72 causes the measurement unit 72 to The stored operation phase duration tOP is reset and set to zero.
  • step S29 the stationary determination unit 73 compares the operation stage duration tOP with the stationary determination time tREF.
  • step S29 when it is determined that the operation stage duration tOP is longer than the stationary determination time tREF (Yes), the stimulus application control unit 62 sets the control flag FLG to 1 in step S30.
  • step S29 When it is determined in step S29 that the operation stage duration tOP is not longer than the stationary determination time tREF (No), the stimulus application control unit 62 resets the control flag FLG to 0 in step S31.
  • step S32 the determination unit 70 sets the determined operation stage number OPN (n) as OPN (n ⁇ 1) as the previous operation stage number.
  • Control unit 60 sets a standby time of 10 ms in step 33.
  • the standby time is a determination cycle for determining the operation stage in step S24.
  • the determination unit 70 determines the operation stage at intervals of 10 ms.
  • the waiting time is set to an optimum value according to the walking cycle.
  • the control unit 60 repeats Steps 24 to 33 during the period in which the human body stimulus applying apparatus 1 is operating.
  • the measuring unit 72 measures the duration of the operation stage determined by the determining unit 70 in step S27 as a time count in units of 10 ms.
  • step S29 the stationary determination unit 73 determines that the walking motion is stationary when the motion stage duration tOP measured by the measuring unit 72 is longer than the stationary determination time tREF.
  • step S28 the measurement unit 72 continues the operation phase stored in the measurement unit 72 when the operation phase number OPN (n) determined by the determination unit 70 changes from the previous operation phase number OPN (n-1). Set time tOP to zero.
  • the stimulus applying control unit 62 controls the left half body stimulus applying unit 90L and the right half body stimulus applying unit 90R based on the value of the control flag FLG to change the magnitude of the stimulus applied to the user 200. That is, in step S29, it is determined that the walking motion is stationary. In step S30, while the control flag FLG is set to 1, the left half body stimulus applying unit 90L and the right half body stimulus applying unit 90R are The stimulation power to 200 is weakened or the stimulation is stopped.
  • the above-described stimulus applying apparatus 1 for the human body includes the first left body sensor SL1 and the second left body sensor SL2 that are disposed on the left leg 210L of the user 200, and the first right that is disposed on the right leg 210R of the user 200.
  • a half body sensor SR1 and a second right body sensor SR2 are provided.
  • the first left body sensor SL1, the second left body sensor SL2, the first right body sensor SR1, and the second right body sensor SR2 detect bilaterally symmetric walking motions.
  • the determination unit 70 includes a first detection signal IL1, a second detection signal IL2, and a second detection signal IL2, which are generated by the first left body sensor SL1, the second left body sensor SL2, the first right body sensor SR1, and the second right body sensor SR2.
  • the walking motion of the user 200 is determined by combining the third detection signal IR1 and the fourth detection signal IR2.
  • the determination unit 70 includes a walking stage division unit 80. The walking motion is determined by dividing the stance phase and the swing phase in one walking cycle into a plurality of motion stages.
  • the stillness determination unit 73 performs the walking still state determination based on the measurement result obtained by measuring the duration of the operation stage. Therefore, the human body stimulus applying apparatus 1 can determine the walking still state at each operation stage.
  • the stimulus imparting control unit 62 controls the left half body stimulus imparting unit 90L and the right half body stimulus imparting unit 90R based on the determination result of the stillness determining unit 73. For this reason, appropriate stimulus application control can be performed.
  • the measuring unit 72 measures the duration of the operation stage for each of the plurality of operation stages.
  • the stationary determination unit 73 performs the walking stationary state determination for each of the plurality of operation stages.
  • the stimulus imparting control unit 62 controls the left half body stimulus imparting unit 90L and the right half body stimulus imparting unit 90R based on the determination result of the stillness determining unit 73. Therefore, it is possible to determine the walking still state with high accuracy in a short time. For this reason, highly accurate stimulus application control can be performed.
  • the first left body sensor SL1 and the second left body sensor SL2, and the first right body sensor SR1 and the second right body sensor SR2 are respectively disposed in two regions on both sides of the reference plane 200C of the user.
  • the first left body sensor SL1, the second left body sensor SL2, the first right body sensor SR1, and the second right body sensor SR2 detect bilaterally symmetric walking motions.
  • the determination unit 70 includes a first detection signal IL1, a second detection signal IL2, and a second detection signal IL2, which are generated by the first left body sensor SL1, the second left body sensor SL2, the first right body sensor SR1, and the second right body sensor SR2.
  • the walking motion of the user 200 is determined by combining the third detection signal IR1 and the fourth detection signal IR2.
  • the determination unit 70 includes a walking stage division unit 80.
  • the walking motion is determined by dividing the stance phase and the free leg phase within one walking cycle into a plurality of motion stages.
  • the stillness determination unit 73 performs the walking still state determination based on the measurement result obtained by measuring the duration of the operation stage. Accordingly, it is possible to determine the walking still state with high accuracy.
  • the evaluation including the state of the other leg is possible.
  • this evaluation for example, when one leg is evaluated, an evaluation including an interaction with the other state is possible.
  • first left body sensor SL1, the second left body sensor SL2, the first right body sensor SR1, and the second right body sensor SR2 are symmetrical with respect to the reference plane 200C serving as a boundary of the walking motion performed symmetrically. Placed in position. That is, the human body often moves parallel to the reference plane 200C that equally divides the human body viewed from the walking direction. In addition, the movement of the human body tends to be similar to each other in two parts (for example, the left limb and the right limb) divided by the reference plane 200C. For example, in an operation of sitting on a chair, the left and right legs operate simultaneously, such as when the left and right knees extend mainly from a standing position and the knees bend when approaching the seating surface.
  • the discriminating unit 70 is based on the movement of a plurality of parts of the human body that operate simultaneously using a signal obtained by combining the first detection signal IL1, the second detection signal IL2, the third detection signal IR1, and the fourth detection signal IR2. Determine the operation. Accordingly, the amount of data used by the determination unit 70 for operation determination is double that of the configuration using only the first detection signal IL1 and the second detection signal IL2 of the first left body sensor SL1 and the second left body sensor SL2. . For this reason, the user's walking motion is more accurately determined, and the walking still state can be more accurately determined.
  • the determination unit 70 in the human body stimulating device 1 is the other sensor.
  • the detection results of the first right body sensor SR1 and the second right body sensor SR2 can be used. For this reason, even in an operation that is conventionally difficult to discriminate, discrimination becomes easy. For this reason, more accurate walking stationary state determination becomes possible.
  • the human body stimulus applying apparatus 1 includes a first left body sensor SL1 and a second left body sensor SL2 worn on one limb portion of the user 200, and a first right body worn on the other limb portion of the user 200.
  • a half body sensor SR1 and a second right body sensor SR2 are provided.
  • the variation amount of the detection signal is determined by attaching the first left body sensor SL1, the second left body sensor SL2, the first right body sensor SR1, and the second right body sensor SR2 to the left and right limbs of the human body 200. It will be larger than when it is worn on the waist. For this reason, the amount of data that can be acquired increases.
  • the signal used for motion discrimination is the sensor detection signal value between the reference posture state and the motion state. It is a difference and becomes a small value. For this reason, it is difficult for such a method to determine an operation with high accuracy.
  • the sensor detection signals of the first left body sensor SL1 and the second left body sensor SL2, the first right body sensor SR1, and the second right body sensor SR2 that are respectively attached to the left and right limbs are sufficiently sufficient. Difference. Thereby, the determination unit 70 can perform the operation determination with higher accuracy and can perform the walking stationary state determination with high accuracy.
  • the human body stimulation device 1 is provided at a position where the first left body sensor SL1, the second left body sensor SL2, the first right body sensor SR1, and the second right body sensor SR2 straddle the knee of the user.
  • the first left body sensor SL1, the second left body sensor SL2, the first right body sensor SR1, and the second right body sensor SR2 are configured to detect the rotational position (angular velocity, etc.) of the knee joint. For example, in the first half of the swing leg period, the thigh rotates about the hip joint in the same direction as the traveling direction.
  • the first left body sensor SL1 and the first right body sensor SR1 detect the acceleration of the thigh with respect to the rotation direction, and generate a first detection signal IL1 and a third detection signal IR1 indicating the detected acceleration. Generate.
  • the lower leg part rotates in a direction in which an inertial force acts around the knee joint.
  • the second left body sensor SL2 and the second right body sensor SR2 detect the angular velocity of the lower leg along the rotation direction, and the second detection signal IL2 and the fourth detection signal indicating the detected angular velocity. IR2 is generated.
  • the thigh and lower leg rotate in the opposite direction to the previous period of the swing phase.
  • the first left body sensor SL1, the second left body sensor SL2, the first right body sensor SR1, and the second right body sensor SR2 operate the knee joint so as to detect the characteristic movement of the foot during the above-described swing phase. It is provided at the straddle site. For this reason, the detection accuracy of the second operation stage OP2 and the third operation stage OP3 can be improved, and the walking still state determination with high accuracy can be performed.
  • the human body stimulation device 1 has the following effects.
  • the human body stimulation device 1 includes a first left body sensor SL1, a second left body sensor SL2, a first right body sensor SR1, and a second right body sensor SR2 as detection units.
  • the human body stimulating device 1 includes a first detection signal IL1 and a second detection signal that are respectively generated in the first left body sensor SL1, the second left body sensor SL2, the first right body sensor SR1, and the second right body sensor SR2.
  • It includes a determination unit 70 that determines the action of the human body by combining the signal IL2, the third detection signal IR1, and the fourth detection signal IR2.
  • the discriminating unit 70 includes a walking stage dividing unit 80, and performs motion discrimination by dividing the stance phase and the free leg phase within one walking cycle during the walking motion of the user 200 into a plurality of motion stages.
  • the stationary discriminating unit 73 performs the walking stationary state discrimination by measuring the duration of the operation stage.
  • the stimulus imparting control unit 62 controls the left half body stimulus imparting unit 90L and the right half body stimulus imparting unit 90R based on the determination result of the stillness determining unit 73. According to this configuration, it is possible to appropriately detect a state where the walking motion is stationary. In addition, the walking still state determination can be performed in a short time while suppressing the erroneous determination. For this reason, appropriate stimulus application control can be performed.
  • the discriminating unit 70 includes a walking stage dividing unit 80, and performs motion discrimination by dividing the stance phase and the free leg phase within one walking cycle during the walking motion of the user 200 into a plurality of motion phases.
  • the determination unit 70 includes a measurement unit 72.
  • the measuring unit 72 measures the duration time in each operation stage.
  • the measurement unit 72 stores the measurement result.
  • the stationary determination unit 73 performs the walking stationary state determination for each of the plurality of operation stages.
  • the stimulus imparting control unit 62 controls the left half body stimulus imparting unit 90L and the right half body stimulus imparting unit 90R based on the determination result of the stillness determining unit 73. According to this configuration, it is possible to determine the walking still state with high accuracy in a short time. For this reason, highly accurate stimulus application control can be performed.
  • the human body stimulus applying apparatus 1 includes a first left body sensor SL1, a second left body sensor SL2, and a right leg that constitute the left leg detection unit SL at positions symmetrical to the reference plane 200C of the user 200. It has the 1st right body sensor SR1 and the 2nd right body sensor SR2 which comprise the detection part SR.
  • the determination unit 70 combines the first detection signal IL1, the second detection signal IL2, the third detection signal IR1, and the fourth detection signal IR2 that indicate detection results by the left leg detection unit SL and the right leg detection unit SR.
  • the operation of the user 200 is determined.
  • the stillness determination unit 73 performs the walking still state determination based on the determination result of the determination unit 70. According to this configuration, the amount of data used for discrimination of walking motion increases, and it is possible to discriminate the walking still state with high accuracy.
  • the center surface of the body that equally divides the human body viewed from the walking direction is the reference plane 200C.
  • the first left body sensor SL1 and the first right body sensor SR1, and the second left body sensor SL2 and the second right body sensor SR2 are arranged symmetrically with respect to the reference plane 200C.
  • the data amount of the signal input to the determination unit 70 is different from the configuration in which only the first detection signal IL1 of the first left body sensor SL1 and the second detection signal IL2 of the second left body sensor SL2 are used. Is doubled, and the walking motion of the user 200 is more accurately determined. For this reason, it is possible to accurately determine the walking still state.
  • the left half body detection unit 50L of the stimulus applying apparatus 1 for a human body includes a first left body sensor SL1 and a second left body sensor SL2 provided on one limb portion of the human body.
  • the right body detection unit 50R of the human body stimulus applying apparatus 1 includes a first right body sensor SR1 and a second right body sensor SR2 provided on the other limb portion of the human body.
  • the stimulus applying apparatus 1 for a human body can acquire more signals indicating the displacement of the human body accompanying various operations such as walking motion.
  • the human body stimulus applying apparatus 1 can perform the operation determination based on abundant data indicating the movement of the human body. For this reason, it is possible to perform the operation determination in more detail and with high accuracy. For this reason, it becomes possible to perform the walking still state determination in more detail and with high accuracy.
  • the human body stimulus applying apparatus 1 includes a first left body sensor SL1, a second left body sensor SL2, a first right body sensor SR1, and a second right body that are mounted at positions symmetrical to the reference plane 200C.
  • the detection signal of the sensor SR2 is combined.
  • the human body stimulus applying apparatus 1 determines the movement of one limb of the human body based on the combination signal. According to this configuration, it is possible to determine the operation with high accuracy and speed. For this reason, it becomes possible to perform walking still state discrimination at higher speed and with higher accuracy.
  • the human body stimulus imparting apparatus 1 of the second embodiment has a different configuration in the following parts compared to the human body stimulus imparting apparatus 1 of the first embodiment, and has the same configuration in other parts.
  • the components common to the human body stimulus applying apparatus 1 of the first embodiment are denoted by the same reference numerals, and a part or all of the description thereof is omitted.
  • the human body stimulus applying apparatus 1 includes a time setting unit 63 that receives an input of a stillness determination time tREF.
  • the human body stimulus applying apparatus 1 according to the second embodiment includes a time setting unit 64 that sets the stillness determination time tREF based on the measurement value of the measurement unit 72.
  • the human body stimulus applying apparatus 1 includes a time setting unit 64.
  • the measurement unit 72 measures the operation phase duration tOP of each of the first operation phase OP1, the second operation phase OP2, and the third operation phase OP3 determined by the determination unit 70.
  • the measurement unit 72 stores the measurement result.
  • the time setting unit 64 sets the stillness determination time tREF.
  • the stillness determination unit 73 compares the operation stage duration tOP stored in the measurement unit 72 with the stillness determination time tREF set by the time setting unit 64.
  • the stationary determination unit 73 determines that the walking motion is stationary when the motion stage duration tOP is longer than the stationary determination time tREF set by the time setting unit 64.
  • the stillness determination unit 73 outputs the determination result to the stimulus application control unit 62.
  • the time setting unit 64 includes a determination time defining unit.
  • the determination time defining unit defines the stillness determination time tREF based on the results of a walking test performed in advance on a plurality of subjects.
  • the time setting unit 64 sets the stillness determination time tREF based on the definition of the determination time defining unit.
  • the stance phase in the walking motion of the human body is about 60% of one walking cycle, and there is a correlation between one walking cycle time and the duration of each motion stage.
  • a person with a long walking cycle has a long duration of each operation stage. For this reason, in order to accurately determine the walking still state, the stationary determination time tREF needs to be changed according to the walking characteristics of the user 200 of the human body stimulus applying apparatus 1.
  • FIG. 10A is a graph showing a method of setting the stillness determination time tREF by multiplying the operation stage duration tOP by a positive proportional coefficient.
  • the determination time defining unit uses the proportional coefficient k shown in FIG. 10A based on at least one duration of the durations of the plurality of divided walking stages measured by the measuring unit 72 before the current walking cycle.
  • the stillness determination time tREF is defined.
  • the time setting unit 64 holds the results of the walking test performed in advance for a plurality of subjects in the storage unit.
  • the determination time defining unit defines the still determination time tREF with reference to the result of the walking test from the measurement time of the measuring unit 72.
  • the stillness determination unit 73 can determine the walking still state in a short time.
  • FIG. 10B is a graph showing a method of setting the stillness determination time tREF by multiplying the operation stage duration tOP by a positive proportionality coefficient and adding the offset value t0.
  • the stationary determination unit 73 can perform stable walking stationary state determination by suppressing malfunction due to noise or the like even when the operation stage duration tOP is short.
  • FIG. 10C shows that the stationary determination time tREF is multiplied by a positive proportionality coefficient with respect to the operation stage duration time tOP, the offset value t0 is added, and the minimum determination time tREFmin and the maximum determination time tREFmax are used.
  • the minimum duration tOPmin and the maximum duration tOPmax of the operation phase duration tOP are set based on the results of the walking test performed in advance on a large number of subjects.
  • the minimum determination time tREFmin and the maximum determination time tREFmax of the stationary determination time tREF are set in correspondence with the minimum duration tOPmin and the maximum duration tOPmax.
  • the determination time defining unit regards an operation stage having a duration equal to or shorter than the minimum duration tOPmin as a jumping operation other than the walking motion, and defines that the stationary determination time tREF is the minimum determination time tREFmin.
  • the determination time defining unit regards all the operation stages having a duration equal to or longer than the maximum duration tOPmax as a walking stationary state, and defines that the stationary determination time tREF is the maximum determination time tREFmax.
  • the stationary determination unit 73 can perform stable walking stationary state determination by suppressing malfunction due to noise or the like even when the operation stage duration tOP is short.
  • the stationary determination unit 73 can suppress an increase in determination time even when the operation stage duration tOP is long.
  • the human body stimulus applying apparatus 1 uses the setting method shown in FIGS. 10A to 10C or other setting methods according to the form of the walking motion performed by the user 200 in setting the stillness determination time tREF. It is configured to be selectable.
  • the form of the walking motion includes walking on a flat road surface, walking on a sloped road surface, walking in ascending / descending stairs, or other walking modes.
  • steps S41 to S45 operations similar to those in steps S21 to S25 described in FIG. 8 in the first embodiment are performed.
  • step S46 the time setting unit 64 sets the stationary determination time tREF based on at least one duration of the durations of the plurality of divided walking stages measured by the measuring unit 72 before the current walking cycle.
  • step S47 the measuring unit 72 determines whether or not the operation stage number OPN (n) determined in step S45 matches the previous operation stage number OPN (n ⁇ 1). By executing step S47, the measuring unit 72 determines whether the operation determined to be the same operation stage number continues.
  • step S47 when it is determined that the operation stage number OPN (n) matches the previous operation stage number OPN (n ⁇ 1) (Yes), the measuring unit 72 is stored in the measuring unit 72 in step S48. 1 is added to the current operation phase duration tOP.
  • step S47 When it is determined in step S47 that the operation stage number OPN (n) does not match (No) with the previous operation stage number OPN (n-1), the measuring unit 72 is stored in the measuring unit 72 in step S49.
  • the operating phase duration tOP being reset is reset to zero.
  • step S50 the stationary determination unit 73 compares the operation stage duration tOP with the stationary determination time tREF.
  • step S50 When it is determined in step S50 that the operation phase duration tOP is longer than the stationary determination time tREF (Yes), the stimulus application control unit 62 sets the control flag FLG to 1 in step S51.
  • step S50 When it is determined in step S50 that the operation phase duration tOP is not longer than the stationary determination time tREF (No), the stimulus application control unit 62 resets the control flag FLG to 0 in step S52.
  • step S53 the determination unit 70 sets the determined operation stage number OPN (n) as OPN (n ⁇ 1) as the previous operation stage number.
  • step 54 the control unit 60 sets the standby time to 10 ms.
  • the standby time is a determination cycle in which the determination unit 70 performs determination.
  • the waiting time is set to an optimum value according to the walking cycle.
  • the control unit 60 repeats Step 44 to Step 54 during the period in which the human body stimulus applying apparatus 1 is operating.
  • the measurement unit 72 measures the duration of the operation stage determined by the determination unit 70 as a count of time in units of 10 ms in step S48.
  • step S50 the stationary determination unit 73 determines that the walking motion is stationary when the motion stage duration tOP measured by the measurement unit 72 is longer than the stationary determination time tREF.
  • step S49 the measurement unit 72 continues the operation phase stored in the measurement unit 72 when the operation phase number OPN (n) determined by the determination unit 70 changes from the previous operation phase number OPN (n ⁇ 1). Set time tOP to zero.
  • the stimulus applying control unit 62 controls the left half body stimulus applying unit 90L and the right half body stimulus applying unit 90R based on the value of the control flag FLG to change the magnitude of the stimulus applied to the user 200. That is, in step S29, the walking still state is determined, and while the control flag FLG is set to 1 in step S30, the left half body stimulus imparting unit 90L and the right half body stimulus imparting unit 90R are stimulating power to the user 200. Weaken or stop applying stimulation.
  • the operation of the human body stimulating device 1 will be described.
  • the discriminating unit 70 of the human body stimulating device 1 includes a walking stage dividing unit 80.
  • the walking stage division unit 80 divides the stance phase and the free leg period within one walking cycle into a plurality of motion stages and performs motion discrimination.
  • the measuring unit 72 measures the operation stage duration tOP for each of the operation stages divided into a plurality.
  • the time setting unit 64 includes a determination time defining unit.
  • the determination time defining unit defines the stillness determination time tREF based on at least one duration of the durations of the plurality of divided walking stages measured by the measuring unit 72 before the current walking cycle.
  • the time setting unit 64 sets the stillness determination time tREF based on the definition of the determination time defining unit.
  • the stillness determination unit 73 performs the walking still state determination based on the stillness determination time tREF set by the time setting unit 64.
  • the stimulus imparting control unit 62 controls the left half body stimulus imparting unit 90L and the right half body stimulus imparting unit 90R based on the determination result of the stillness determining unit 73. For this reason, according to the walking characteristic of the user 200, exact walk stationary state determination can be performed. For this reason, appropriate stimulus application control can be performed.
  • the stimulus applying apparatus 1 for a human body is configured to be able to select a setting method used when the measurement unit 72 sets the stationary determination time tREF. For this reason, the stillness determination part 73 can perform the exact walking still state determination according to the walking form of the user 200. For this reason, appropriate stimulus application control can be performed.
  • the human body stimulus applying apparatus 1 according to the second embodiment has the same effects as the effects (1) to (6) exhibited by the human body stimulus applying apparatus 1 according to the first embodiment. That is, the effect of being able to perform appropriate stimulus application control, the effect of being able to perform highly accurate stimulus application control, by performing the walking still state determination in a short time while suppressing misidentification, And other various effects. Moreover, the stimulus applying apparatus 1 for a human body has the following effects.
  • the discriminating unit 70 of the stimulus applying apparatus 1 for human body performs motion discrimination by dividing the stance phase and the free leg phase within one walking cycle into a plurality of motion stages.
  • the measuring unit 72 measures the operation stage duration tOP for each of the operation stages divided into a plurality.
  • the time setting unit 64 sets the stillness determination time tREF based on at least one duration of the durations of the plurality of divided walking stages measured by the measurement unit 72 before the current walking cycle.
  • the stillness determination unit 73 performs the walking still state determination based on the stillness determination time tREF set by the time setting unit 64.
  • the stimulus imparting control unit 62 controls the left half body stimulus imparting unit 90L and the right half body stimulus imparting unit 90R based on the determination result of the stillness determining unit 73. For this reason, according to the walking characteristic of the user 200, exact walk stationary state determination can be performed. For this reason, appropriate stimulus application control can be performed.
  • the human body stimulus applying apparatus 1 is configured to be able to select a setting method used when the measurement unit 72 sets the stillness determination time tREF. For this reason, the measurement unit 72 measures the duration of the operation stage for each of the plurality of operation stages.
  • the stillness determination unit 73 can accurately determine the walking still state according to the walking form of the user 200. For this reason, appropriate stimulus application control can be performed.
  • the human body stimulus applying apparatus 1 of the third embodiment has a different configuration in the following parts compared to the human body stimulus applying apparatus 1 of the second embodiment, and has the same structure in the other parts. Constituent elements common to the human body stimulus applying apparatus 1 of the second embodiment are denoted by the same reference numerals, and a part or all of the description thereof is omitted.
  • the first wearing unit 10L includes a left half body stimulating unit 90L
  • the second wearing unit 10R includes a right half body stimulating unit 90R
  • the first wearing unit 10L includes a left half electrical stimulation applying unit 140L
  • the second wearing unit 10R includes a right half electrical stimulation applying unit 140R.
  • the same elements as those of the first mounting portion 10 ⁇ / b> L in the first embodiment shown in FIG. 3 are denoted by the same reference numerals, and redundant description is omitted.
  • the second mounting portion 10R has the same configuration as the first mounting portion 10L, and a description thereof will be omitted.
  • the first wearing unit 10L includes a left half electrical stimulation applying unit 140L for applying electrical stimulation to the user's body, and the left half electrical stimulation applying unit 140L includes an electrode unit 34L provided on the thigh front part 24, And an electrode portion 35 ⁇ / b> L provided on the lower leg front portion 27.
  • the electrode portion 34L includes a pair of an anode 34La and a cathode 34Lb partially exposed from the back surface 24b of the thigh front portion 24.
  • the electrode portion 35L includes a pair of an anode 35La and a cathode 35Lb partially exposed from the back surface 27b of the lower leg front portion 27.
  • the exposed portions of the anodes 34La and 35La and the cathodes 34Lb and 35Lb are configured to directly contact the skin and apply electrical stimulation.
  • the control unit 60 included in the stimulation device main body 40 of the stimulation applying device 1 for human body includes a first determination unit 100, a second determination unit 120, a first time setting unit 65, and a second time setting unit 66.
  • 10 L of 1st mounting parts of the stimulus application apparatus 1 for human bodies contain the left-half-body electrical stimulus provision part 140L.
  • the 2nd mounting part 10R of the stimulus application apparatus 1 for human bodies contains the right half body electrical stimulus provision part 140R.
  • the first determination unit 100 is based on the detection result of the left leg detection unit SL including the first left body sensor SL1 and the second left body sensor SL2 attached to the left half of the user 200 divided by the reference plane 200C. The movement of one limb of the user is determined.
  • the first determination unit 100 includes a first comparison unit 101, a first measurement unit 102, a first stationary determination unit 103, and a first walking stage division unit 110.
  • the first walking stage division unit 110 includes a first logic operation unit 111.
  • the arithmetic processing unit 61 performs arithmetic processing on the detection signal generated by the left leg detection unit SL.
  • the first comparison unit 101 compares the calculation result of the calculation processing unit 61 with a threshold value.
  • the first logical operation unit 111 performs a logical operation on the comparison result provided from the first comparison unit 101.
  • the first determination unit 100 uses the first comparison unit 101 and the first logic operation unit 111 to detect the first detection signal IL1 and the second left body sensor SL2 of the first left body sensor SL1 processed by the operation processing unit 61.
  • the second detection signal IL2 is determined. Accordingly, the first determination unit 100 performs a plurality of operation stages illustrated in FIG. 6 from the walking motion of the left leg of the user 200, that is, the first operation stage OP1, the second operation stage OP2, and The third operation stage OP3 is determined.
  • the operation stage number OPN indicating the first operation stage OP1, the second operation stage OP2, and the third operation stage OP3, and the operation stage is Provides a signal that indicates a switch.
  • the first measurement unit 102 performs the operations shown in steps S47 to S49 of the walking stillness determination processing flow shown in FIG. 11, thereby determining the first operation stage OP1 and the second operation stage determined by the first determination unit 100.
  • the duration of OP2 and the third operating phase OP3 is measured.
  • the first time setting unit 65 sets the stillness determination time tREF in step S46 of the walking stillness determination processing flow shown in FIG. 11 using the stillness determination time setting method shown in FIG.
  • the first stationary determination unit 103 compares the durations of the first operation stage OP1, the second operation stage OP2, and the third operation stage OP3 measured by the first measurement unit 102 with the stationary determination time tREF.
  • the first stationary determination unit 103 determines that the walking motion is stationary when the durations of the first operation stage OP1, the second operation stage OP2, and the third operation stage OP3 are longer than the stationary determination time tREF.
  • the second determination unit 120 is based on the detection result of the right leg detection unit SR including the first right body sensor SR1 and the second right body sensor SR2 attached to the right half of the user 200 divided by the reference plane 200C. The movement of the other limb of the user is determined.
  • the second determination unit 120 includes a second comparison unit 121, a second measurement unit 122, a second stationary determination unit 123, and a second walking stage division unit 130.
  • the second walking stage division unit 130 includes a second logic operation unit 131.
  • the arithmetic processing unit 61 performs arithmetic processing on the detection signal generated by the right leg detection unit SR.
  • the second comparison unit 121 compares the calculation result of the calculation processing unit 61 with a threshold value.
  • the second logical operation unit 131 performs a logical operation on the comparison result provided from the second comparison unit 121.
  • the second determination unit 120 uses the second comparison unit 121 and the second logical operation unit 131 to detect the third detection signal IR1 of the first right body sensor SR1 and the second right body sensor SR2 processed by the operation processing unit 61.
  • the fourth detection signal IR2 is determined. Accordingly, the second determination unit 120 determines a plurality of operation stages shown in FIG. 6 from the walking motion of the right leg of the user 200, that is, the first operation stage OP1, the second operation stage OP2, and The third operation stage OP3 is determined.
  • the operation stage number OPN indicating the first operation stage OP1, the second operation stage OP2, and the third operation stage OP3, and the operation stage is Provides a signal that indicates a switch.
  • the second measuring unit 122 performs the operations shown in steps S47 to S49 in the walking stillness determination processing flow shown in FIG. 11, thereby determining the first operation stage OP1 and the second operation stage that are determined by the second determination unit 120.
  • the duration of OP2 and the third operating phase OP3 is measured.
  • the second time setting unit 66 sets the stillness determination time tREF in step S46 of the walking stillness determination processing flow shown in FIG. 11 using the stillness determination time setting method shown in FIG.
  • the second stationary determination unit 123 compares the durations of the first operation stage OP1, the second operation stage OP2, and the third operation stage OP3 measured by the second measurement unit 122 with the stationary determination time tREF.
  • the second stationary determination unit 123 determines that the walking motion is stationary when the durations of the first motion stage OP1, the second motion stage OP2, and the third motion stage OP3 are longer than the stillness determination time tREF.
  • the stimulus application control unit 62 receives the determination signals from the first stationary determination unit 103 and the second stationary determination unit 123, and based on the determination signal, the left half electrical stimulation applying unit that is mounted on the first mounting unit 10L. 140L and the right body electrical stimulus applying part 140R attached to the second attachment part 10R are controlled.
  • the stimulus application control unit 62 receives the determination signals from the first stillness determination unit 103 and the second stillness determination unit 123, and changes the magnitude of stimulus application to the user 200 based on the determination signal.
  • the first stationary determination unit 103 determines that the walking motion is stationary
  • the left half electrical stimulation applying unit 140L weakens the stimulation force on the user 200 or stops applying the stimulation.
  • the second stationary determination unit 123 determines that the walking motion is stationary
  • the right half body electrical stimulus applying unit 140R weakens the stimulation force on the user 200 or stops applying the stimulus.
  • the control unit 60 drives the pulse generation unit 67 based on the control signal from the stimulus application control unit 62 to generate an electrical stimulation pulse.
  • the left half electrical stimulation applying unit 140L uses the electrical stimulation pulse generated in the pulse generating unit 67 to send a predetermined pulse signal between the anode 34La and the cathode 34Lb of the electrode unit 34L and the anode 35La of the electrode unit 35L. And the cathode 35Lb.
  • Each of the electrode portions 34L and 35L applies electrical stimulation to the user 200 by generating a pulse signal.
  • the right half electrical stimulation applying unit 140R performs the same operation as the left half electrical stimulation applying unit 140L and applies electrical stimulation to the user 200.
  • FIG. 14 shows the operation of the user 200 in the right leg 210R.
  • FIG. 14 (a) shows a walking motion.
  • Each of the period from time t11 to t21 and the period from time t21 to t31 is one walking cycle period.
  • the user 200 performs a walking motion in the section from time t21 to t31 with a walking cycle B shorter than the walking period A in the section from time t11 to t21.
  • the user 200 is in a walking still state after time t31.
  • FIG. 14B shows the operation stage determined by the first determination unit 100.
  • FIG. 14B shows an example in which one walking cycle is divided into four types of operation stages indicated by a first operation stage OP1 to a fourth operation stage OP4.
  • FIG. 14 (c) shows the value of the stationary determination time tREF set for determining the walking still state.
  • the value of the stillness determination time tREF in the walking cycle B with a short walking cycle is set to a value smaller than the walking cycle A.
  • FIG. 14D shows the operation stage duration tOP measured by the first measurement unit 102.
  • the value of tOP is set to 0 when the operation stage is switched.
  • FIG. 14 (e) shows the state of the electrical stimulation pulse generated by the pulse generator 67.
  • the electrical stimulation pulse is controlled to turn on at time t12 and time t23 when the walking motion is switched from the second motion stage OP2 to the third motion stage OP3.
  • the electrical stimulation pulse is controlled to be turned off at time t22 when the walking motion is switched from the first motion phase OP1 to the second motion phase OP2.
  • the stimulus application control unit 62 performs control to turn off the electrical stimulation pulse.
  • the motion stage duration tOP measured by the first measurement unit 102 increases with time.
  • the second stationary determination unit 123 determines that the walking motion is stationary at time t32 when the motion stage duration tOP is greater than the stationary determination time tREF.
  • the stimulus application control unit 62 controls to turn off the electrical stimulation pulse at time t32.
  • the electrical stimulation pulse is kept off during the period when the walking motion after time t32 is stationary.
  • the application of the electrical stimulation pulse to the left leg 210L of the user 200 is performed by the human body stimulation applying apparatus 1 at the same timing as the operation to the right leg 210R according to the operation of the left leg 210L of the user 200.
  • the operation of the human body stimulating device 1 will be described.
  • the human body stimulus applying apparatus 1 includes a first determination unit 100 that determines the movement state of one leg of the user 200.
  • the first determination unit 100 includes a first walking stage division unit 110, a first measurement unit 102, a first time setting unit 65, and a first stationary determination unit 103.
  • the first determination unit 100 determines the operation of one leg of the user 200 based on the detection signal generated by the left leg detection unit SL.
  • the first walking stage division unit 110 divides the movement of one leg of the user 200 into a plurality of sections, and determines the movement of the legs in each section.
  • the first measurement unit 102 measures the operation stage duration of the operation stage determined for each section.
  • the first time setting unit 65 sets the stillness determination time tREF.
  • the first stationary determination unit 103 determines the walking stationary state by comparing the operation stage duration with the stationary determination time tREF.
  • the stimulus applying apparatus 1 for a human body includes a second determination unit 120 that determines the movement state of the other leg of the user 200.
  • the second determination unit 120 includes a second walking stage division unit 130, a second measurement unit 122, a second time setting unit 66, and a second stationary determination unit 123.
  • the second determination unit 120 determines the operation of the other leg of the user 200 based on the detection signal generated by the right leg detection unit SR.
  • the second walking stage division unit 130 divides the movement of the other leg of the user 200 into a plurality of sections, and determines the movement of the legs in each section.
  • the second measuring unit 122 measures the duration of the operation stage determined for each section.
  • the second time setting unit 66 sets the stillness determination time tREF.
  • the second stationary determination unit 123 determines the walking stationary state by comparing the operation stage duration with the stationary determination time tREF.
  • the stimulus application control unit 62 changes the magnitude of stimulus application to the user 200 when it is determined that the walking motion is stationary based on the determination result of the first stationary determination unit 103.
  • the stimulus application control unit 62 changes the magnitude of stimulus application to the user 200 when it is determined that the walking motion is stationary based on the determination result of the second stationary determination unit 123.
  • the first wearing unit 10L of the stimulation applying device 1 for human body includes a left half electrical stimulation applying unit 140L
  • the second wearing unit 10R of the stimulation applying device 1 for human body includes a right half electrical stimulation applying unit 140R.
  • the left body electrical stimulation applying unit 140L changes the magnitude of the stimulation applied by the stimulation applying control unit 62.
  • the right half body electrical stimulation applying unit 140R changes the magnitude of stimulation applied by the stimulation applying control unit 62. To be controlled. For this reason, the area which provides electrical stimulation can be made into appropriate time.
  • the human body stimulating device 1 of the third embodiment has the effects (1) to (6) exhibited by the human body stimulating device 1 of the first embodiment and the human body stimulating device 1 of the second embodiment. In addition to (7) and (8), the following effects are provided.
  • the human body stimulus applying apparatus 1 includes a first determination unit 100 and a second determination unit 120 that determine the movement states of the left and right legs of the user 200, respectively.
  • determination part 100 discriminate
  • the second determination unit 120 determines the walking still state of the other leg of the user 200 based on the operation stage duration and the stationary determination time.
  • the stimulus application control unit 62 controls the application of the stimulus to the left and right legs of the user 200 based on the determination results of the first stillness determination unit 103 and the second stillness determination unit 123, respectively.
  • the human body stimulus applying apparatus 1 discriminates the left and right leg motions by different discriminating units. For this reason, the human body stimulus applying apparatus 1 can perform the determination of the operation stage and the walking still state for each of the left and right legs. For this reason, appropriate stimulus imparting control can be performed even for a user who performs different left and right operations.
  • the first mounting unit 10L and the second mounting unit 10R of the stimulation applying device 1 for human body include a left half electrical stimulation applying unit 140L and a right half electrical stimulation applying unit 140R, respectively.
  • the left body electrical stimulation applying unit 140L changes the magnitude of the stimulation applied by the stimulation applying control unit 62.
  • the right half body electrical stimulation applying unit 140R changes the magnitude of stimulation applied by the stimulation applying control unit 62.
  • the stimulus applying apparatus 1 for a human body can set the section for applying electrical stimulation as an appropriate time. For this reason, the stimulus applying apparatus 1 for a human body can suppress fatigue caused by applying electrical stimulation to a user for a long time.
  • the set value of the stationary determination time tREF in one walking cycle is different from the set value in the third embodiment.
  • the stimulus application control unit 62 has passed a predetermined time after the walking stationary time, which is an elapsed time from when the first stationary determining unit 103 and the second stationary determining unit 123 determined walking stationary, exceeds the determination elapsed time. Later, a control signal is supplied to the pulse generator 67. Since the stimulus applying apparatus 1 for human body has the same configuration as that of the third embodiment, description of the operation thereof is omitted.
  • FIG. 15 is used to explain the operation of applying an electrical stimulation pulse in the walking motion.
  • FIG. 15 (a) shows a walking motion.
  • Each of the period from time t11 to t21 and the period from time t21 to t31 is one walking cycle period.
  • the user 200 performs a walking motion in the section from time t21 to t31 with a walking cycle B shorter than the walking period A in the section from time t11 to t21.
  • the user 200 is in a walking still state after time t31.
  • FIG. 15B shows the operation stage determined by the first determination unit 100.
  • FIG. 15B shows an example in which one walking cycle is divided into four types of operation stages indicated by a first operation stage OP1 to a fourth operation stage OP4.
  • FIG. 15 (c) shows the value of the stationary determination time tREF set for determining the walking still state.
  • different stillness determination times tREF are set in accordance with the operation stage within one walking cycle.
  • the stationary determination time tREF can be changed by changing the proportional coefficient k for the operation stage duration time tOP shown in FIG. 10 according to the operation stage.
  • FIG. 15D shows the operation stage duration tOP measured by the first measurement unit 102.
  • the value of the operation phase duration tOP is set to 0 when the operation phase is switched.
  • FIG. 15E shows the state of the electrical stimulation pulse generated by the pulse generator 67.
  • the electrical stimulation pulse is controlled to be turned on at time t12 and time t23 when the walking motion is switched from the second motion stage OP2 to the third motion stage OP3.
  • the electrical stimulation pulse is controlled to be turned off at time t22 when the walking motion is switched from the first motion phase OP1 to the second motion phase OP2.
  • the stimulus application control unit 62 performs control to turn off the electrical stimulation pulse.
  • the motion stage duration tOP measured by the first measurement unit 102 increases with time.
  • the second stationary determination unit 123 determines that the walking motion is stationary at time t32 when the motion stage duration tOP is greater than the stationary determination time tREF.
  • the stimulus application control unit 62 performs control so that the electrical stimulation pulse is turned off at time t33 when a predetermined time has elapsed from time t32. The electrical stimulation pulse is maintained in the off state during the walking still state period after time t33.
  • the human body stimulating device 1 of the fourth embodiment has the effects (1) to (6) exhibited by the human body stimulating device 1 of the first embodiment, and the human body stimulating device 1 of the second embodiment ( In addition to the effects (7) and (8) and the effects (9) and (10) exhibited by the human body stimulus applying apparatus 1 of the third embodiment, the following effects are exhibited.
  • the set value of the stationary discrimination time tREF set for use in the walking stationary state discrimination is changed according to the operation stage within one walking cycle.
  • the walking stationary state In walking motion, the walking stationary state is mostly standing. For this reason, in the stance phase, there are many cases in which a transition is made from a standing state to a walking stationary state. For this reason, the stationary stationary state determination can be performed earlier by setting the set value of the stationary determination time tREF in the motion stage in the stance phase to a small value.
  • the stationary determination time tREF in the motion stage during the swing phase to a large value, the stationary determination time becomes longer and erroneous determination can be suppressed. For this reason, highly accurate stimulus application control is possible.
  • the stimulus application control unit 62 performs control to turn off the electrical stimulation pulse after a lapse of a predetermined time after the first stationary determination unit 103 and the second stationary determination unit 123 perform the walking stationary state determination in the walking motion. . For this reason, application of electrical stimulation to the user 200 is stopped after the operation of the user 200 shifts from the walking state to the walking stationary state and becomes a stable walking stationary state. For this reason, the human body stimulus applying apparatus 1 can prevent the user 200 from falling due to the stimulus stoppage in an unstable walking stationary state. (Other embodiments)
  • modifications of the first to fourth embodiments as other embodiments of the human body stimulus applying apparatus will be described. The following modifications can be combined with each other.
  • the time setting unit 64, the first time setting unit 65, and the second time setting unit 66 have one walking cycle as a plurality of sections. Divide and set the still determination time tREF in each section.
  • the configuration of the stimulus applying apparatus 1 for human body is not limited to the contents exemplified in the second to fourth embodiments.
  • the time setting unit 64, the first time setting unit 65, and the second time setting unit 66 divide one walking cycle into a plurality of sections, and a plurality of sections The stationary determination time tREF integrated in is set.
  • FIG. 16 is used to explain the operation of applying an electrical stimulation pulse in walking motion.
  • the stillness determination time tREF in each walking cycle is set using the value of the operation stage duration tOP1 in the first operation stage OP1.
  • the configuration of the time setting unit 64, the first time setting unit 65, and the second time setting unit 66 is simplified.
  • the left half electrical stimulation applying unit 140L and the right half electrical stimulation applying unit 140R receive the signal from the pulse generating unit 67, and the electrical stimulation pulse Is given to the user 200.
  • the configuration of the stimulus applying apparatus 1 for human body is not limited to the contents exemplified in the second to fourth embodiments.
  • the left half electrical stimulation applying unit 140L and the right half electrical stimulation applying unit 140R apply electrical stimulation to the user 200 by a current that gradually increases over time. To do. Moreover, you may give an electric stimulus to the user 200 with the electric current which decreases gradually with progress of time.
  • the determination time defining unit of the time setting unit 64 defines the stationary determination time tREF with reference to the result of a walking test performed in advance on a plurality of subjects.
  • the configuration of the human body stimulus applying apparatus 1 is not limited to the content exemplified in the second embodiment.
  • the determination time defining unit of the time setting unit 64 uses the calculation formula obtained from the result of the walking test performed on a plurality of subjects in advance to determine the stationary determination time. tREF is calculated.
  • the first left half sensor SL1 and the first right half sensor SR1 are angular velocity sensors.
  • the second left body sensor SL2 and the second right body sensor SR2 are angular velocity sensors.
  • the configuration of the stimulus applying apparatus 1 for human body is not limited to the contents exemplified in the first to fourth embodiments.
  • the first left body sensor SL1, the second left body sensor SL2, the first right body sensor SR1, and the second right body sensor SR2 are the same type of sensors. obtain.
  • the first left body sensor SL1, the second left body sensor SL2, the first right body sensor SR1, and the second right body sensor SR2 may be a rotary encoder, a potentiometer, a goniometer, an acceleration sensor, an angular velocity sensor, or the like.
  • the first left body sensor SL1, the second left body sensor SL2, the first right body sensor SR1, and the second right body sensor SR2 are:
  • the stimulation device main body 40 is connected to the connection cable 13.
  • the configuration of the stimulus applying apparatus 1 for human body is not limited to the contents exemplified in the first to fourth embodiments.
  • the first left body sensor SL1, the second left body sensor SL2, the first right body sensor SR1, the second right body sensor SR2, and the stimulator main body 40 are:
  • a communication unit capable of wireless communication may be included.
  • the first left body sensor SL1, the second left body sensor SL2, the first right body sensor SR1, and the second right body sensor SR2 are: Attached to the user's knee joint.
  • the configuration of the stimulus applying apparatus 1 for human body is not limited to the contents exemplified in the first to fourth embodiments.
  • the first left body sensor SL1, the second left body sensor SL2, the first right body sensor SR1, and the second right body sensor SR2 are arranged around the hip joint of the user. Can be attached to.
  • the first left body sensor SL1, the second left body sensor SL2, the first right body sensor SR1, and the second right body sensor SR2 are attached to other parts such as the user's waist, elbow, arm, and ankle. May be.
  • the first left body sensor SL1, the second left body sensor SL2, the first right body sensor SR1, and the second right body sensor SR2 are attached to portions that are symmetrical with respect to the reference plane.
  • the first left body sensor SL1, the second left body sensor SL2, the first right body sensor SR1, and the second right body sensor SR2 are preferably provided at positions where the joints of the user's body are sandwiched therebetween.
  • the first mounting portion 10L and the second mounting portion 10R are configured separately from the stimulation device main body 40.
  • the configuration of the stimulus applying apparatus 1 for human body is not limited to the contents exemplified in the first to fourth embodiments.
  • the stimulation device main body 40 can be incorporated in the first mounting unit 10L and the second mounting unit 10R.
  • the first determination unit 100 determines the movement of one leg
  • the second determination unit 120 determines the movement of the other leg.
  • the movement determination of the other leg is also performed based on the determination results of the first determination unit 100 and the second determination unit 120.
  • the configuration of the human body stimulating device 1 is not limited to the content exemplified in the third embodiment.
  • the first determination unit 100 and the second determination unit 120 determine the operation of one leg, and the first determination unit 100 and the second determination unit 120 use the other leg. The operation can be determined.
  • the left leg detection unit SL includes the same type of first left body sensor SL1 and first right body sensor SR1.
  • the right leg detection unit SR includes the same type of second left body sensor SL2 and second right body sensor SR2.
  • the configuration of the stimulus applying apparatus 1 for human body is not limited to the contents exemplified in the first to fourth embodiments.
  • the left leg detection unit SL and the right leg detection unit SR may include different types of sensors. According to this, the 1st discrimination
  • the stimulus imparting control unit 62 controls the pulse generating unit 67 to generate an electrical stimulus pulse.
  • the configuration of the human body stimulating device 1 is not limited to the content exemplified in the third embodiment.
  • the electrical stimulus is given by a current that gradually increases with time.
  • the left leg detection unit SL is included in the left half body detection unit 50L
  • the right leg detection unit SR is included in the right half body detection unit 50R.
  • the configuration of the stimulus applying apparatus 1 for human body is not limited to the contents exemplified in the first to fourth embodiments.
  • the detection unit includes an auxiliary detection unit including at least one sensor attached to the human body. According to this, even if both the left leg detection unit SL and the right leg detection unit SR perform erroneous detection, the auxiliary detection unit substitutes for the left leg detection unit SL and the right leg detection unit SR to detect the movement of the human body. To do. Thereby, the motion detection of the human body is performed with higher reliability.
  • the human body stimulating device 1 divides the walking motion of the user 200 into a plurality of sections, and performs motion discrimination for each section.
  • the configuration of the stimulus applying apparatus 1 for human body is not limited to the contents exemplified in the first to fourth embodiments.
  • the human body stimulus applying apparatus 1 according to the modified example can perform the operation determination in the ascending / descending operation such as stairs and give the stimulus.
  • the human body stimulus imparting apparatus 1 can perform the operation discrimination in the standing motion from the seat chair or the like, and can impart the stimulus.
  • Embodiment-4th Embodiment comprises the stimulus imparting apparatus 1 for human bodies as an application example of a body movement detection apparatus.
  • the application of the body motion detection device is not limited to the human body stimulus applying device.
  • the body motion detection device according to the modification can be applied to a fall prevention device in medicine.
  • the fall prevention device discriminates a walking state of a patient having a physical disorder and accumulates discrimination data.
  • the fall prevention device discriminates the walking state when the patient walks and predicts the fall based on the accumulated discrimination data.
  • the fall prevention device can predict with high accuracy by dividing the walking state into a plurality of motion stages and accumulating detailed motion determination data including stillness determination.

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PCT/JP2013/005680 2012-10-11 2013-09-25 Dispositif de détection de mouvements du corps et appareil de stimulation du corps humain comprenant ledit dispositif Ceased WO2014057619A1 (fr)

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JP6371618B2 (ja) * 2014-07-25 2018-08-08 村田機械株式会社 脚部状態検出装置、脚部状態検出方法、及び脚部状態検出プログラム
JP6569893B2 (ja) * 2015-05-27 2019-09-04 パナソニックＩｐマネジメント株式会社 電気刺激装置およびその制御装置
US11612344B2 (en) * 2018-11-02 2023-03-28 Biocircuit Technologies, Inc. Electrode-based systems and devices for interfacing with biological tissue and related methods
KR102185840B1 (ko) * 2019-01-08 2020-12-03 재단법인대구경북과학기술원 저주파 자극기 제어장치 및 그 제어방법
IT201900001812U1 (it) * 2019-06-11 2020-12-11 Pandhora S R L Apparecchiatura a raggi infrarossi per la riabilitazione robotica su tapis roulant, avente attacco pelvico flessibile

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WO2011058641A1 (fr) * 2009-11-13 2011-05-19 トヨタ自動車株式会社 Dispositif d'aide à la marche

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US20150224308A1 (en) 2015-08-13
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US9802040B2 (en) 2017-10-31
JP6008318B2 (ja) 2016-10-19

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